Design Patterns for Multithreaded Software Pipelines in Real Time Applications
Stefan Preuß, Alfred Schmitt
http://wscg.zcu.cz/wscg2007/wscg2007.htm
WSCG 2007 15th international Conference Plzen (CZ)
F02-full.pdf

Impulsbasierte Dynamiksimulation von Mehrkörpersystemen in der virtuellen Realität
Jan Bender
http://www.impulse-based.de
Dissertation, Universität Karlsruhe
Bender - Dissertation.pdf

Impulse-based dynamic simulation in linear time
Dr. Jan Bender
http://www.impulse-based.de
Journal of Computer Animation and Virtual Worlds, John Wiley & Sons Ltd, 2007
LinearTime.pdf